divinedewbiotech.com

The Reaction Wheel Pendulum

This monograph describes the Reaction Wheel Pendulum, the newest inverted- pendulum-like device for control education and research. We discuss the history . In this paper we introduce the Reaction Wheel Pendulum, a novel mechanical system consisting of a physical pendulum with a rotating bob. This system has. The reaction wheel pendulum is one of the simplest non-linear underactuated systems. It is a pendulum with a rotating wheel at the end, which is free to spin.

axis reaction wheel inverted pendulum. It shows the mathematical mod- eling of the system using Euler-Lagrange's equations of motion, as well as MATLAB and . Control design methods for the control of the reaction wheel pendulum using a single actuator are presented in this paper. The control algorithms are based. Control of a reaction wheel pendulum, a prototype of an under-actuated system, is easily done using switching control strategies, which combines swing-up.